#ifndef TP_H
#define TP_H
#include "tp_type.h"

int tpCreate(int _queueSize);
int tpRunCycle(STRUCT_TP *tp);
int tpClear(STRUCT_TP *tp);


//----------add move---------
int tpAddP2P(double posit[MAX_JOINT], STRUCT_USER_VEL user_vel, STRUCT_USER_OVL user_ovl, int id, char enable);
int tpAddP2P_Pose(STRUCT_POSE pose, int ik_flag, STRUCT_USER_VEL user_vel, STRUCT_USER_OVL user_ovl, int id, char enable);
int tpAddLine(STRUCT_POSE pose, int ik_flag, STRUCT_USER_VEL user_vel, STRUCT_USER_OVL user_ovl, int id, char enable);

//--------control handle-----
int tpHandleAbort(STRUCT_TP *tp);
int tpHandlePause(STRUCT_TP *tp);
int tpHandleResume(STRUCT_TP *tp);
int tpHandleChangeVelRate(STRUCT_TP *tp, float feed_rate);


#endif
